Distributed stabilization of 3D circular formations

Author

El-Hawwary, Mohamed I.

Author_Institution

Dept. of Electr. Eng., Cairo Univ., Cairo, Egypt

fYear

2013

fDate

17-19 July 2013

Firstpage

1878

Lastpage

1883

Abstract

The paper presents distributed control design to stabilize circular formations of steered particles in three-dimensional space. In formation, the particles are required to follow equal radius circular paths with common orientation, but not necessarily common center. The formation is given by specifying desired separations of the centers of the circular paths and desired relative headings. The information exchange between the particles is modeled by a directed graph which is assumed to have a spanning tree. Control design is based on a hierarchical approach utilizing a reduction principle for asymptotic stability of closed sets.

Keywords

asymptotic stability; control system synthesis; directed graphs; distributed control; position control; trees (mathematics); 3D circular formations; asymptotic stability; directed graph; distributed control design; distributed stabilization; equal radius circular paths; hierarchical approach; information exchange; reduction principle; spanning tree; steered particles; three-dimensional space; Asymptotic stability; Closed loop systems; Control design; Kinematics; Laplace equations; Synchronization; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2013 European

Conference_Location

Zurich

Type

conf

Filename

6669788